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Generating Fiducials

For more information about fiducial markers refer to marker_info

Scripts offer a simple UI, which enables user to re-configure fiducials according to their need.

Location of scripts is in ConveyorBot repository in the ConveyorBot/ConveyorBot_detect/scripts directory:

• ArUco/gen_markers.py -> generate Aruco markers with frames
• STag/gen_markers_autogen.py -> generate STag markers with frames by generating also the inner part.
• *** this file is not there stag_maker_generator.py is in the STag directory **
• ***** ALSO NO INSTRUCTIONS ON PROPER SYNTAX OR HOW TO SPECIFY ‘hd’ FOLDER AND WHICH SET OF MARKERS
• expected is HD, kernelRadius, dilateErodeIterations NONEWHICH IS EXPLAINED in DOCS *****
• STag/gen_markers.py -> generate STag markers with frames by getting the inner part from downloaded image library. Download the required images from here.

Script were tested using python2.7.

ArUco Dictionary ID

You can generate ArUco markers from any dictionary you prefer. Make sure you set the corresponding dictionary parameter in launch file. We performed most of the test with dictionary with ID 7. For more information about ArUco refer to ArUco.

STag Library HD

You can generate STag markers from any library you prefer. Make sure you set the corresponding libraryHD parameter in launch file. We performed most of the test with library HD15, which suited our needs. For more information about STag refer to STag.

Packs

Generally each pack should correspond to a standalone route, but you can generate yourself packs according to your preference. Take note that each marker has a unique id, while a number is unique only to the pack.